CN205968996U - Parallelly connected retinue mechanism of multi freedom - Google Patents
Parallelly connected retinue mechanism of multi freedom Download PDFInfo
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- CN205968996U CN205968996U CN201620874838.8U CN201620874838U CN205968996U CN 205968996 U CN205968996 U CN 205968996U CN 201620874838 U CN201620874838 U CN 201620874838U CN 205968996 U CN205968996 U CN 205968996U
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- slide rail
- retinue
- hinge
- motion
- track component
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Abstract
The utility model relates to a parallelly connected retinue mechanism of multi freedom belongs to parallelly connected retinue mechanism of multi freedom. Support and sliding rail set spare are fixed on test platform, it installs on the support to go up the backup pad, the upper plate is fixed in last backup pad, the main motion subassembly passes through the hooke hinge with retinue motion subassembly and installs on the upper plate, slider in the cylinder sliding rail set spare is connected with the slide rail cooperation in the sliding rail set spare, and fixed connecting piece was connected on revolute pair and motion subassembly telescopic link sleeve were passed through to its cylinder slide rail both ends, the inboard telescopic link of two motion subassemblies passes through the connecting rod and connects, the connecting rod both ends are connected the main motion subassembly and the connecting piece of retinue motion subassembly with the revolute pair. The advantage is novel structure, and through host computer drive hooke hinge driving motor and telescopic link driving motor, the position appearance of change initiative platform simultaneously, makes retinue motion subassembly accomplish the motion in step. The retinue to main motion subassembly spatial movement can be accomplished, the degree of freedom of the motion of can accompanying has been increased.
Description
Technical field
This utility model belongs to mechanical engineering field, particularly to a kind of multi-freedom parallel connection follower mechanism, and provides one
Plant the driving method of this mechanism.
Background technology
Follower mechanism can complete the retinue to the motion of main motion part.Current follower mechanism can be only done list certainly mostly
By the retinue spent it is impossible to meet the retinue task to space motion；And, generally require the auxiliary of the systems such as hydraulic pressure, air pressure, knot
Structure is complex.For example a kind of follower mechanism (patent No.：CN203266227U) based on telescoping mechanism, using hydraulic system
Realize controlling, change retinue part rod member collapsing length, the retinue of single dof mobility can be completed.So, realize follower mechanism
The simplification of structure, the variation of freedom of motion are extremely necessary.
Content of the invention
This utility model provides a kind of multi-freedom parallel connection follower mechanism, it is possible to achieve the motion to the motion of main motion platform
Retinue.
This utility model adopts the technical scheme that：Support I, support II and slide track component are fixed on test platform, on
Gripper shoe two ends are arranged on support II, and upper plate is fixed on upper backup pad；Main motion assembly and retinue moving parts lead to respectively
Cross Hooke's hinge and be arranged on upper plate bottom, cylinder slide track component I and cylinder slide track component II pass through slide block on their connecting plates with
Slide rail on slide track component longitudinal slide rail seat is connected, and its cylinder slide rail two ends with rotate secondary with main motion assembly and with
The connector A on two pairs of expansion links outside row moving parts and connector B connects；Expansion link inside two moving parts passes through
Connecting rod connects, and connecting rod two ends are connected with the connector in two moving parts with rotating pair.
The structure of described main motion assembly is：Hooke's hinge one motor is fixed on upper plate by electric machine support, and motor turns
Axle is installed with the cooperation of Hooke's hinge one cross axle transverse axis, and Hooke's hinge one is installed with the cooperation of expansion link push rod upper end；Push rod lower end is silk
Thick stick pair of nut, is coordinated with ball-screw and installs, and ball-screw lower end coordinates installation with the gear on the right side in gear train；Guiding dress
Put and be fixed on push rod, the directive wheel of both sides is in rolling contact with expansion link sleeve lining boss；Flexible rod sleeve and Change-over frame with
Bolt connection, and coordinate with push rod top；Expansion link motor is arranged on Change-over frame, rotating shaft and gear train left side gear
Cooperation is installed, and gear train is installed on Change-over frame, and connector is fixedly mounted on flexible rod sleeve, and Change-over frame passes through spherical hinge
Fix on the moving platform.
Described retinue moving parts structure be：Expansion link upper end is fixed on upper plate by Hooke's hinge two, and lower end is passed through
Spherical hinge is fixing on the moving platform, and connector is fixedly mounted in expansion link sleeve wall, in addition two groups of Telescopic rod structures and this
Identical.
The structure of described slide track component is：Slide rail I, slide rail II are fixedly connected with longitudinal slide rail seat, slide rail III, slide rail IV with
Horizontal slide rail seat is fixedly connected, and longitudinal slide rail seat lower end is interfixed with connecting plate, is fixed with slider I, slide block below connecting plate
II, and install with slide rail cooperation on horizontal slide rail seat, slide block can move along a straight line along slide rail, another longitudinal slide rail seat related cooperation knot
Structure is identical with longitudinal slide rail seat.
The structure of described cylinder slide track component I is：Cylinder slide rail contacts connection with cylinder slider surface, the fixing peace of cylinder slide block
It is contained on connecting plate, connecting plate reverse side fixedly mounts slide block one, the cunning installing on slide block two, with slide track component longitudinal slide rail assembly
Rail cooperation is installed.
The structure of described cylinder slide track component II is identical with cylinder slide track component I.
The utility model has the advantages that：Structure is novel, three bar parallel institutions is introduced follower mechanism, gives full play to it in sky
Between the wide advantage of middle range of movement, it is possible to achieve space multivariant motion retinue；Structure is simple, by slide track component, circle
Post slide track component and the effect of connecting rod, the assembly producing retinue motion need not be dynamic by the offer of the systems such as extra hydraulic pressure, air pressure
Power, you can realize the accurate retinue to motion；During for fields such as machinings, it is possible to achieve double is processed, and saves a set of
Drive mechanism, reduces cost；Motor control part in main motion assembly is removed, is transformed into common expansion link mechanism,
The retinue to manual movement can be realized.
Brief description
Fig. 1 is general structure schematic diagram of the present utility model；
Fig. 2 (a) is this utility model main motion modular construction schematic diagram；
Fig. 2 (b) is this utility model main motion assembly expansion link generalized section；
Fig. 2 (c) is the flexible rod sleeve generalized section of this utility model main motion assembly；
Fig. 3 is this utility model retinue moving parts structural representation；
Fig. 4 is the schematic diagram of this utility model slide track component；
Fig. 5 is this utility model cylinder slide track component schematic diagram；
Fig. 6 is this utility model multifreedom motion follower mechanism sketch；
Wherein：Upper plate 1, main motion assembly 2, support I 3, test platform 4, moving parts 5 of accompanying, slide track component 6, connecting rod
7, upper backup pad 8, cylinder slide track component I 9, cylinder slide track component II 10, support II 11, electric machine support 201, Hooke's hinge one drives
Motor 202, Hooke's hinge 1, flexible rod sleeve 204, connector A205, expansion link motor 206, Change-over frame 207, ball pivot
Chain 208, motion platform 209, gear train 210, push rod 211, guider 212, ball-screw 213, Hooke's hinge 2 501, stretches
Bar 502, connector B503, spherical hinge 504, motion platform 505, slide rail I 601, longitudinal slide rail seat 602, slide rail II 603, slide rail
III 604, slide rail IV 605, connecting plate 606, horizontal slide rail seat 609, cylinder slide rail 901, connecting plate 902, slide block 1, circular
Slide block 904, slide block 2 905.
Specific embodiment
This motion follower mechanism is by upper plate 1, main motion assembly 2, support I 3, test platform 4, retinue moving parts 5, slide rail
Assembly 6, connecting rod 7, upper backup pad 8, cylinder slide track component I 9, cylinder slide track component II 10, support II 11 forms；Support I 3,
Frame II 11 and slide track component 6 are fixed on test platform 4, and upper backup pad 8 two ends are arranged on support II, and upper plate 1 is fixed on
In gripper shoe 8；Main motion assembly 2 and retinue moving parts 5 are arranged on upper plate 1 bottom, cylinder slide rail group by Hooke's hinge respectively
Part I 9 and cylinder slide track component II 10 pass through the slide block on their connecting plates and the cooperation of the slide rail on slide track component 6 longitudinal slide rail seat
Connect, and its cylinder slide rail two ends is to rotate on secondary two pairs of expansion links with main motion assembly 2 and retinue moving parts 5 outside
Connector A205 and connector B503 connect；Expansion link inside two moving parts is connected by connecting rod 7, connecting rod 7 two ends with
Rotate pair to be connected with the connector in two moving parts.
The structure of described main motion assembly 2 is：Hooke's hinge one motor 202 is fixed on upper plate by electric machine support 201,
Machine shaft is installed with the cooperation of Hooke's hinge 1 cross axle transverse axis；Hooke's hinge 1 and expansion link push rod 211 upper end cooperation peace
Dress；Push rod 211 lower end is screw pair, coordinates with ball-screw 213 and installs, in ball-screw lower end and gear train 210
The gear cooperation on the right side is installed；Guider 212 is fixed on push rod 211, the directive wheel of both sides and flexible rod sleeve 204 inwall
Boss is in rolling contact；Flexible rod sleeve 204 and Change-over frame 207 are with bolt connection, and coordinate with push rod top；Expansion link drives electricity
Machine 206 is arranged on Change-over frame 207, and rotating shaft is installed with the cooperation of gear train left side gear；Gear train is installed on Change-over frame 207
On；Connector A205 is fixedly mounted on flexible rod sleeve 204；Change-over frame 207 is fixed on motion platform by spherical hinge 208
On 209.
Described retinue moving parts 5 structure be：Expansion link 502 upper end is fixed on upper plate 1 by Hooke's hinge 2 501,
Lower end is fixed on motion platform 505 by spherical hinge 504；Connector B503 is fixedly mounted in expansion link sleeve wall；In addition
Two groups of Telescopic rod structures are identical with this.
The structure of described slide track component 6 is：Slide rail I 601, slide rail II 603 are fixedly connected with longitudinal slide rail seat 602, slide rail
III 604, slide rail IV 605 is fixedly connected with horizontal slide rail seat 609；Longitudinal slide rail seat 602 lower end and connecting plate 606 interfix；
Connecting plate 606 is fixed with slider I 607, slide block II 608 below, and installs with slide rail cooperation on horizontal slide rail seat 609；Slide block can
Along slide rail linear motion.Another longitudinal slide rail seat correlation fit structure is identical with longitudinal slide rail seat 602.
The structure of described cylinder slide track component I 9 is：Cylinder slide rail 901 contacts connection with cylinder slide block 904 face；Cylinder is slided
Block 904 is fixedly mounted on connecting plate 902；Connecting plate 902 reverse side fixed installation slide block 1, installation slide block 2 905, with cunning
Slide rail cooperation on rail assembly 6 longitudinal slide rail assembly is installed.
The structure of described cylinder slide track component II 10 is identical with cylinder slide track component I 9.
Drive the rotation of gear train 210 by expansion link motor 206, gear train 210 is with ball-screw 213 lower end even
Connect, rotate, by push rod 211 lower end screw pair, and guider 212 acts on, so that push rod 211 extension elongation is occurred
Change；Tatc Hooke reamers axis of rotation is carried by Hooke's hinge motor 201, thus changing cross axle and silent flatform angle, and shadow
Ring expansion link direction；By the two collective effect, main motion component movement platform's position and pose is made to change, by slide track component 6
With the effect of cylinder slide track component I 9, II 10, retinue moving parts 5 are made to produce retinue motion.
First, to moving parts the selection of type of drive illustrate：
As shown in Fig. 2 knowable to structure is simplified, movable member number N=7；Moving sets number is 3, each shifting
Dynamic secondary 5 degree of freedom limiting space；Hooke's hinge number is 3, and each limits 4, space degree of freedom；Ball pivot number is 3, each
Limit 3, space degree of freedom, therefore can be obtained by the computing formula of spatial degrees of freedom：
Due to the driving link number of mechanism equal with number of degrees of freedom when, mechanism just can have deterministic motion.So, always
To control the regular motion of main motion mechanism altogether from 6 motors.
Secondly, to mechanism kinematic, accompanying synchronicity illustrates：
As shown in Figure 5：Motion moving platform and being connected by expansion link through between platform, expansion link and sound platform it
Between for spherical hinge contact.Expansion link B1P1And B1'P1'、B2P2And B2'P2' between connected by cylinder slide rail, every cylinder slide rail
Coordinate with two cylinder slide blocks；Expansion link B3P3And B3'P3' connected by connecting rod.Wherein, B1B2B3And B1'B2'B3' put down for quiet
Platform, P1P2P3And P1'P2'P3' it is moving platform, BiAnd Bi' (i=1,2,3) be silent flatform hinge, PiAnd Pi' (i=1,2,3) be
Platform hinge.In circular slide track component, because the restriction relation of slide block and slide track component has MM' //NN' //OO'；And, have with
Lower relation：OO'=MM'=NN'=KK'=l.
With silent flatform B1B2B3Central point O be zero, set up quiet coordinate system O-XYZ；With moving platform P1P2P3Center
Point o is initial point, sets up moving coordinate system o-xyz；With moving platform P1'P2'P3' central point o' be zero, set up moving coordinate system
o-x'y'z'.
Motion is transmitted by cylinder slide rail and connecting rod.In in figure, due to
MM'//NN'//OO'
So, following conclusion can be obtained
xM=xM', yM=yM'+ l, zM=zM'；
xN=xN', yN=yN'+ l, zN=zN'；
Again because silent flatform each hinge coordinate has following relation
Bi'(xi',yi',zi')=Bi(xi,yi,zi)+(0,l,0)
Therefore,
Due to secondary equal to the distance of moving platform hinge from rotating after installing, therefore
It follows that these two pair expansion link direction in space and length are identicals, this also illustrates their motions
Synchronicity.Remaining a pair of expansion link B only need to be proved below3P3And B3'P3' motion synchronicity.Only need to prove
KK' //OO'.
By the relation between silent flatform each hinge connecting line, have
B2B3//B2'B3', B1B3//B1'B3'
B again1P1//B1'P1', B2P2//B2'P2',
So, face B2B3P2// face B2'B3'P2', face B1B3P1// face B1'B3'P1'；
And B3P3It is face B2B3P2Dough-making powder B1B3P1Intersection, B3'P3' it is face B2'B3'P2' dough-making powder B1'B3'P1' intersection, institute
To have
B3P3//B3'P3'
So, tetragon B3B3' K'K is parallelogram,
So, KK' //B3B3'//OO'
So,
xK=xK', yK=yK'+ l, zK=zK'；
This also illustrates expansion link B3P3And B3'P3' motion be also synchronous.
In sum, this follower mechanism can complete the retinue to definitiveness multifreedom motion.
Specific operation process is as follows：By controlling Hooke's hinge rotating shaft motor 202 and expansion link motor 206, lead to
Cross the length change of main motion assembly 2 expansion link and the rotation of each Hooke's hinge cross axle, so that main motion assembly moving platform pose is sent out
Raw performance of expected change, by the constraint of slide track component 6, connecting rod 7 and cylinder slide track component I 9, II 10, makes the dynamic of follow-up motion assembly 5
Platform can complete the retinue to moving parts 2 motion.
Claims (5)
1. a kind of multi-freedom parallel connection follower mechanism it is characterised in that：It is flat that support I, support II and slide track component are fixed on test
On platform, upper backup pad two ends are arranged on support II, and upper plate is fixed on upper backup pad；Main motion assembly and retinue moving parts
Respectively upper plate bottom is arranged on by Hooke's hinge, cylinder slide track component I and cylinder slide track component II pass through on their connecting plates
Slide block is connected with the slide rail on slide track component longitudinal slide rail seat, and its cylinder slide rail two ends is to rotate secondary and main motion group
The connector A on two pairs of expansion links outside part and retinue moving parts and connector B connects；Flexible inside two moving parts
Bar is connected by connecting rod, and connecting rod two ends are connected with the connector in two moving parts with rotating pair.
2. a kind of multi-freedom parallel connection follower mechanism according to claim 1 it is characterised in that：Described main motion assembly
Structure is：Hooke's hinge one motor is fixed on upper plate by electric machine support, and machine shaft is joined with Hooke's hinge one cross axle transverse axis
Close and install, Hooke's hinge one is installed with the cooperation of expansion link push rod upper end；Push rod lower end is screw pair, coordinates peace with ball-screw
Dress, ball-screw lower end coordinates installation with the gear on the right side in gear train；Guider is fixed on push rod, the guiding of both sides
Wheel is in rolling contact with expansion link sleeve lining boss；Flexible rod sleeve and Change-over frame are with bolt connection, and coordinate with push rod top；
Expansion link motor is arranged on Change-over frame, and rotating shaft is installed with the cooperation of gear train left side gear, and gear train is installed on and turns
Connect on frame, connector is fixedly mounted on flexible rod sleeve, Change-over frame is fixing on the moving platform by spherical hinge.
3. a kind of multi-freedom parallel connection follower mechanism according to claim 1 it is characterised in that：Described retinue moving parts
Structure be：Expansion link upper end is fixed on upper plate by Hooke's hinge two, and lower end is fixing on the moving platform by spherical hinge, even
Fitting is fixedly mounted in expansion link sleeve wall, and in addition two groups of Telescopic rod structures are identical with this.
4. a kind of multi-freedom parallel connection follower mechanism according to claim 1 it is characterised in that：The knot of described slide track component
Structure is：Slide rail I, slide rail II are fixedly connected with longitudinal slide rail seat, and slide rail III, slide rail IV are fixedly connected with horizontal slide rail seat, longitudinally
Slide track seat lower end and connecting plate interfix, and are fixed with slider I, slide block II below connecting plate, and with slide rail on horizontal slide rail seat
Cooperation is installed, and slide block can move along a straight line along slide rail, and another longitudinal slide rail seat correlation fit structure is identical with longitudinal slide rail seat.
5. a kind of multi-freedom parallel connection follower mechanism according to claim 1 it is characterised in that：Described cylinder slide track component
I structure is：Cylinder slide rail contacts connection with cylinder slider surface, and cylinder slide block is fixedly mounted on connecting plate, connecting plate reverse side
Fixed installation slide block one, the slide rail cooperation installed on slide block two, with slide track component longitudinal slide rail assembly are installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620874838.8U CN205968996U (en) | 2016-08-14 | 2016-08-14 | Parallelly connected retinue mechanism of multi freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620874838.8U CN205968996U (en) | 2016-08-14 | 2016-08-14 | Parallelly connected retinue mechanism of multi freedom |
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| Publication Number | Publication Date |
|---|---|
| CN205968996U true CN205968996U (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620874838.8U Withdrawn - After Issue CN205968996U (en) | 2016-08-14 | 2016-08-14 | Parallelly connected retinue mechanism of multi freedom |
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|---|---|
| CN (1) | CN205968996U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078698A (en) * | 2016-08-14 | 2016-11-09 | 吉林大学 | A kind of multi-freedom parallel connection follower mechanism and driving method thereof |
-
2016
- 2016-08-14 CN CN201620874838.8U patent/CN205968996U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078698A (en) * | 2016-08-14 | 2016-11-09 | 吉林大学 | A kind of multi-freedom parallel connection follower mechanism and driving method thereof |
| CN106078698B (en) * | 2016-08-14 | 2018-02-09 | 吉林大学 | A kind of multi-freedom parallel connection follower mechanism and its driving method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170222 Effective date of abandoning: 20180209 |